Gripper structure for electric end effector

Abstract

The utility model relates to the technical field of medical devices, and specifically to a clamping jaw structure for an electric end effector, comprising an upper clamping jaw and a first rotating transmission structure, wherein the first rotating transmission structure comprises an upper clamping jaw driving shaft and a first threaded hole and a second threaded hole penetrating a first clamping jaw arm and a second clamping jaw arm, wherein the first threaded hole and the second threaded hole have opposite thread rotation directions, and the upper clamping jaw driving shaft is provided with a first threaded section and a second threaded section for cooperating with the first threaded hole and the second threaded hole, wherein the first threaded section and the second threaded section have opposite thread rotation directions. When in use, the first clamping jaw and the second clamping jaw can be relatively opened or relatively closed by driving the upper clamping jaw driving shaft to rotate, thereby clamping or releasing a puncture needle fastener. Compared with the solution in the prior art of clamping a puncture needle fastener by a knob, a bolt and a clamping jaw linked thereto, the clamping jaw structure of the utility model is easy to operate and has a simple structure.

Description

Technical Field

[0001] The utility model relates to the technical field of medical instruments, in particular to a clamping claw structure used for an electric end effector. Background Art

[0002] During puncture surgery, the use of robotic puncture can effectively improve the stability and accuracy of the puncture surgery. Compared with manual puncture by doctors, the puncture surgery robot can stably clamp the puncture needle while maintaining the puncture position and angle.

[0003] The puncture surgical robot clamps the puncture needle through the end effector and performs the puncture operation. The end effector needs to have the functions of clamping the puncture needle and puncturing the needle. In addition, the end effector must be able to quickly release the puncture needle: when the patient moves by mistake, the quick release of the puncture needle can avoid causing harm to the patient; after the puncture is completed, the puncture needle needs to be released, and the puncture needle and the patient are scanned together for CT to verify whether the puncture is in place.

[0004] The end effector of the prior art needs to manually clamp and release the puncture needle, and the puncture needle is clamped by a knob, a bolt, and a clamping claw linked thereto, which is inconvenient to operate. In particular, for a solution designed with two clamping claws to clamp the puncture needle at the needle tail and the needle head, two manual operations are required, which is complicated and time-consuming. Utility Model Content

[0005] In view of this, the purpose of the present invention is to provide an electric end effector and a puncture surgical robot to solve the problem in the prior art that the electric end effector designed with two clamping claws cannot achieve simultaneous and rapid clamping and release of the puncture needle.

[0006] To achieve the above-mentioned purpose, the utility model provides a clamping claw structure for an electric end effector, comprising:

[0007] An upper clamping jaw, comprising a first clamping arm and a second clamping arm hinged to each other, wherein the first clamping arm has a first clamping portion, and the second clamping arm has a second clamping portion, and the first clamping portion and the second clamping portion jointly form an upper clamping cavity for clamping a puncture needle fastener;

[0008] The first rotary transmission structure includes an upper jaw drive shaft and a first threaded hole and a second threaded hole passing through the first jaw arm and the second jaw arm. The upper jaw drive shaft is provided with a first threaded section and a second threaded section respectively cooperating with the first threaded hole and the second threaded hole. The thread rotation directions of the first threaded section and the second threaded section are opposite.

[0009] Optionally, the first end of the upper clamp drive shaft is used to fix the second end of the first transmission flexible shaft connected to the electric end effector, and the second end of the upper clamp drive shaft passes through the second threaded hole of the second clamp arm and is provided with an anti-drop cap to prevent it from falling out of the second threaded hole.

[0010] Optionally, it also includes an upper fixing portion fixedly connected to the outer side of the first claw arm, and the upper fixing portion is used to be fixed to the upper connecting rod of the electric end effector.

[0011] Optionally, an anti-interference space is provided on the side of the second threaded hole and is connected to the second threaded hole and is used to prevent the second claw arm from interfering with the upper clamping claw drive shaft during the opening process.

[0012] Optionally, the matching length between the second threaded segment and the second threaded hole and the reserved size of the anti-interference space are set to allow the second claw arm to open more than 90 degrees relative to the first claw arm.

[0013] Optionally, it further comprises a lower clamping jaw connected to the lower connecting rod of the electric end effector and used to clamp the needle body of the puncture needle, and a second rotary transmission structure for cooperating with the lower clamping jaw;

[0014] The lower clamping jaw comprises a third clamping arm and a fourth clamping arm hinged to each other, the third clamping arm has a third clamping portion, the fourth clamping arm has a fourth clamping portion, and the third clamping portion and the fourth clamping portion together form a lower clamping cavity for clamping the puncture needle body;

[0015] The second rotating transmission structure includes a lower jaw drive shaft and a third threaded hole and a fourth threaded hole passing through the third jaw arm and the fourth jaw arm. The lower jaw drive shaft is provided with a third threaded segment and a fourth threaded segment respectively cooperating with the third threaded hole and the fourth threaded hole. The thread rotation directions of the third threaded segment and the fourth threaded segment are opposite.

[0016] Optionally, the openings of the upper jaw and the lower jaw are in opposite directions; the upper jaw and the lower jaw are configured to be able to open relative to each other at an angle exceeding 90°, so that the upper jaw and the lower jaw form a needle withdrawal channel for the puncture needle to withdraw from the electric end effector in the upper and lower corresponding spaces.

[0017] The technical solution of this utility model has the following advantages:

[0018] The utility model provides a clamping jaw structure for an electric end effector, comprising an upper clamping jaw and a first rotating transmission structure, wherein the first rotating transmission structure comprises an upper clamping jaw driving shaft and a first threaded hole and a second threaded hole penetrating a first clamping jaw arm and a second clamping jaw arm, wherein the first threaded hole and the second threaded hole have opposite thread rotation directions, and the upper clamping jaw driving shaft is provided with a first threaded section and a second threaded section for cooperating with the first threaded hole and the second threaded hole, wherein the first threaded section and the second threaded section have opposite thread rotation directions. When in use, the first clamping jaw and the second clamping jaw can be relatively opened or relatively closed by driving the upper clamping jaw driving shaft to rotate, thereby clamping or releasing the puncture needle fastener. Compared with the solution in the prior art that clamps the puncture needle fastener by means of a knob, a bolt and a clamping jaw linked thereto, the clamping jaw structure of the utility model is easy to operate and has a simple structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the specific implementation of the utility model or the technical solution in the prior art, the following will briefly introduce the drawings required for the specific implementation or the prior art description. Obviously, the drawings described below are some implementations of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0020] Figure 1 It is a schematic diagram of the three-dimensional structure of the electric end effector in the embodiment of the utility model;

[0021] Figure 2 for Figure 1 An enlarged structural diagram of a gripper drive unit in an electric end effector is shown;

[0022] Figure 3 for Figure 1 A schematic diagram of the three-dimensional structure of the upper clamping jaw in the electric end effector shown;

[0023] Figure 4 for Figure 1 A schematic diagram of the three-dimensional structure of the lower gripper of the electric end effector shown;

[0024] Figure 5 for Figure 1 A schematic diagram of the three-dimensional structure of the puncture needle fastener in the electric end effector shown;

[0025] Figure 6 for Figure 5 A schematic diagram of the exploded structure of the puncture needle fastener shown;

[0026] Figure 7 It is a schematic diagram of the state where the puncture needle is straightened from a bent state when the upper and lower clamps are released at different times.

[0027] Among them, the reference numerals in the above drawings are:

[0028] 10. Linear motion unit; 11. Upper connecting rod; 12. Lower connecting rod; 13. Force sensor; 14. Linear module; 15. Slide table;

[0029] 30. Upper clamping claw; 31. Second clamping claw arm; 311. Second clamping portion; 32. First clamping claw arm; 321. First clamping portion; 33. Upper fixing portion;

[0030] 40, lower clamping claw; 43, fourth claw arm; 431, fourth clamping portion; 44, third claw arm; 441, third clamping portion; 45, lower fixing portion;

[0031] 51. upper jaw driving shaft; 52. lower jaw driving shaft;

[0032] 61. First transmission flexible shaft; 62. Second transmission flexible shaft;

[0033] 71. First driven gear; 72. Second driven gear; 73. Driving gear; 75. Transmission unit driving motor; 76. Gripper driving motor;

[0034] 80, puncture needle fastener; 81, fastening clip; 811, first lateral groove; 83, fastening sleeve; 832, second lateral groove; 85, necking end;

[0035] 90. Puncture needle. DETAILED DESCRIPTION

[0036] The technical solution of the utility model will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0037] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0038] Robotic puncture can effectively improve the stability and accuracy of the puncture operation. The robot can stably clamp the puncture needle 90 and maintain the puncture position and angle.

[0039] The robot clamps the puncture needle 90 through the end effector and performs the puncture operation. The end effector needs to have the functions of clamping the puncture needle 90 and puncturing. In addition, the end effector must be able to quickly release the puncture needle 90: when the patient moves by mistake, the puncture needle 90 is quickly released to avoid causing harm to the patient; after the puncture is completed, the puncture needle 90 is released, and the puncture needle 90 and the patient are scanned together for CT to verify whether the puncture is in place.

[0040] In the related art, the puncture needle 90 needs to be clamped and released manually, and the puncture needle 90 is clamped by a knob, a bolt, and a clamping claw linked thereto. For a solution designed with two clamping claws to clamp the puncture needle 90 at the needle tail and the needle head respectively, it is necessary to manually operate twice, the operation is complicated and time-consuming, and it cannot be released quickly.

[0041] For this reason, Figure 1 As shown, this embodiment provides an electric end effector, which has the functions of electrically clamping and releasing the puncture needle 90 and electrically puncturing the needle. Specifically, the electric end effector includes:

[0042] The linear motion unit 10 includes a linear transmission unit and a transmission unit driving motor 75 for driving the linear transmission unit to transmit;

[0043] The upper clamping device includes an upper connecting rod 11 and an upper clamping jaw 30; the first end of the upper connecting rod 11 is movably connected to the linear transmission unit of the linear motion unit 10, and the upper clamping jaw 30 is arranged at the second end of the upper connecting rod 11; the first end and the second end of the upper connecting rod 11 represent the two ends of one end and the other end of the upper connecting rod 11. Under the drive of the linear motion unit 10, the upper connecting rod 11 can reciprocate linearly along the linear transmission unit. The upper clamping jaw 30 is used to clamp the puncture needle fastener 80, and the puncture needle fastener 80 is generally clamped at the needle tail of the puncture needle 90 when in use.

[0044] The lower clamping device includes a lower connecting rod 12 and a lower clamping jaw 40; the first end of the lower connecting rod 12 is connected to the linear transmission unit, and the second end of the lower connecting rod 12 is provided with the lower clamping jaw 40, which is used to clamp the needle body or needle tip of the puncture needle 90.

[0045] The jaw drive unit includes a jaw drive assembly, a first transmission flexible shaft 61 and a second transmission flexible shaft 62; the first ends of the first transmission flexible shaft 61 and the second transmission flexible shaft 62 are both connected to the jaw drive assembly and driven by the jaw drive assembly, and under the drive of the jaw drive assembly, the first transmission flexible shaft 61 and the second transmission flexible shaft 62 can both rotate to transmit torque; the second end of the first transmission flexible shaft 61 is connected to the upper jaw 30 through a first rotation transmission structure, and the second end of the second transmission flexible shaft 62 is connected to the lower jaw 40 through a second rotation transmission structure; when the jaw drive assembly outputs a driving torque, the first transmission flexible shaft 61 and the second transmission flexible shaft 62 can rotate simultaneously under the drive of the jaw drive assembly, and transmit the torque to the upper jaw 30 and the lower jaw 40 through the first rotation transmission structure and the second rotation transmission structure, so that the upper jaw 30 and the lower jaw 40 can be opened or closed simultaneously.

[0046] The electric end effector provided in this embodiment, firstly, holds the needle tail and needle tip of the puncture needle 90 respectively through the upper clamping device and the lower clamping device (two-point holding), so that the puncture needle 90 is not easy to bend during the puncture process; secondly, because the first transmission flexible shaft 61 and the second transmission flexible shaft 62 can rotate simultaneously under the drive of the clamp driving assembly, under the action of the first rotating transmission structure and the second rotating transmission structure transmitting torque at the same time, the upper clamp 30 and the lower clamp 40 can be opened or closed at the same time, thereby achieving the simultaneous clamping or simultaneous release of the needle tail and the needle body / needle tip of the puncture needle 90. Compared with the two-step scheme in the existing scheme, in addition to being able to improve work efficiency, it is also safer in actual use. When the upper clamp pushes the puncture needle, the puncture needle may be bent between the upper and lower clamps (the puncture needle is subjected to the thrust of the upper clamp, the greater resistance of the patient's body, and the friction of the inner wall support force of the lower clamp). At this time, if only the lower clamp is released, the puncture needle may be straightened from the bent state, causing accidental puncture, such as Figure 7 In addition, since this embodiment uses only one motor to drive two clamping jaws and the transmission part is purely mechanical transmission, the transmission mechanism is more stable and has a lower failure rate.

[0047] Furthermore, when the needle is inserted during puncture, the two transmission flexible shafts can bend according to the movement of the upper clamp 30 and the lower clamp 40 respectively. Specifically, when clamping or releasing the puncture needle 90, the two transmission flexible shafts can rotate while following the swing of the clamp drive shaft at one end of the two transmission flexible shafts away from the clamp drive motor 76. The transmission structure is simple and realizes complex functions.

[0048] In addition, since the two transmission flexible shafts only transmit torque but not axial force, the two transmission flexible shafts will not apply additional axial force to the upper clamping device and the lower clamping device when working, thereby avoiding interference with the force conditions of the upper clamping device and the lower clamping device. Especially when a force feedback unit is added to the upper clamping device, the accuracy of the puncture force feedback can be improved through the setting of the transmission flexible shaft.

[0049] As an implementation of the transmission flexible shaft, the transmission flexible shaft can be a steel wire flexible shaft. Specifically in this embodiment, the first transmission flexible shaft 61 and the second transmission flexible shaft 62 are both steel wire flexible shafts. It should be noted that this embodiment does not specifically limit the specific parameters such as the specific length, outer diameter, and deflection of the steel wire flexible shaft, and can be set according to actual needs.

[0050] It should be noted that in other embodiments, rope transmission and Bowden wire transmission can also be used as an alternative to the transmission flexible shaft, but special structures / mechanisms must be designed to achieve the beneficial effects of the transmission flexible shaft of this embodiment, and the general rope transmission and Bowden wire transmission cannot completely replace the transmission flexible shaft of this embodiment.

[0051] In one embodiment, the linear motion unit 10 may be a linear transmission device. The linear transmission device includes a linear module 14 as a linear transmission unit and a linear module 14 motor as a transmission unit drive motor 75. The linear module 14 includes a linear guide rail and a slide 15. The slide 15 can slide back and forth along the linear guide rail under the drive of the linear module 14 motor. However, this is not restrictive. In other embodiments, the linear transmission device may also use a ball screw.

[0052] In this embodiment, the lower clamping device is preferably fixedly connected to the linear transmission unit, that is, the first end of the lower connecting rod 12 of the lower clamping device is fixedly connected to the linear transmission unit. Through this arrangement, the position of the lower clamping device relative to the linear module 14 is fixed. During puncture, the upper clamping device clamps the needle tail of the puncture needle 90 and moves along the puncture direction, while the lower clamping device applies an appropriate clamping force to the needle body or needle tip of the puncture needle 90, and the clamping force will not affect the normal movement of the puncture needle 90.

[0053] It should be noted that the above description is not restrictive. According to actual use requirements, the lower clamping device can also be movable relative to the linear module 14, that is, the first end of the lower connecting rod 12 of the lower clamping device is movably connected to the linear transmission unit.

[0054] In order to detect and provide feedback on the puncture force of the puncture needle 90, in this embodiment, the upper clamping device includes a force feedback unit for providing feedback on the puncture force of the puncture needle 90; specifically, the force feedback unit includes a force sensor 13, and the force sensor 13 is used to detect the puncture force of the puncture needle 90 when the upper clamping jaw 30 clamps the puncture needle 90 for puncture. Figure 1 As shown, the force sensor 13 is installed at the position where the upper connecting rod 11 connects to the slide 15. When the upper clamp 30 clamps the puncture needle 90 for puncture, the force sensor 13 can sense in real time the feedback force applied by the patient's tissue to the puncture needle 90, the upper clamp 30 and the upper connecting rod 11. By detecting the puncture force of the puncture needle 90 in real time through the force sensor 13, the puncture accuracy of the upper clamp 30 can be improved, so that the operator can have a good control of the puncture force of the puncture needle 90, improve the operator's sense of presence, and greatly improve safety, effectively avoiding the occurrence of medical accidents.

[0055] The following is a detailed introduction to the clamping jaw drive assembly of this embodiment.

[0056] like Figure 1 and Figure 2 As shown, the clamping jaw driving assembly includes a clamping jaw driving motor 76 and a gear assembly.

[0057] In one embodiment, the gear assembly includes a driving gear 73 and two driven gears. The driving gear 73 is fixedly connected to the output shaft of the clamp driving motor 76. The two driven gears are a first driven gear 71 and a second driven gear 72, and the first driven gear 71 and the second driven gear 72 are respectively meshed with the driving gear 73. The output shafts of the first driven gear 71 and the second driven gear 72 are respectively fixedly connected to the first ends of the first transmission flexible shaft 61 and the second transmission flexible shaft 62.

[0058] When in use, the clamp driving motor 76 drives the driving gear 73 to rotate through its output shaft. Since the driving gear 73 is meshed with the first driven gear 71 and the second driven gear 72 at the same time, the driving gear 73 can simultaneously drive the first driven gear 71 and the second driven gear 72 to rotate, and then the first driven gear 71 and the second driven gear 72 simultaneously drive the first transmission flexible shaft 61 and the second transmission flexible shaft 62 to rotate, so that the first transmission flexible shaft 61 and the second transmission flexible shaft 62 transmit torque at the same time, and then drive the upper clamp 30 and the lower clamp 40 to open or close at the same time. This embodiment realizes that one motor drives two clamps, and meets the use requirements of clamping or releasing the two clamps at the same time, saving installation space and cost.

[0059] It should be noted that, for the driving of the two transmission flexible shafts, this embodiment is not limited to gear transmission. It is understandable that in other implementations, belt transmission, roller transmission and other transmission methods can also be used to achieve the purpose of simultaneously driving the two transmission flexible shafts to rotate with one clamping jaw drive motor 76.

[0060] In one embodiment, Figure 2 As shown, the transmission unit drive motor 75 and the clamping jaw drive motor 76 are arranged side by side at one end of the linear transmission unit away from the upper clamping device and the lower clamping device. In order to prevent the vibration generated by the transmission unit drive motor 75 and the clamping jaw drive motor 76 during operation from interfering with the puncture work of the upper clamping device, in this embodiment, as shown in FIG. Figure 2 As shown, a fixing plate is installed at the end of the linear transmission unit away from the lower clamping device. The fixing plate serves as the installation base of the transmission unit driving motor 75 on the one hand, and is used to isolate the vibration of the transmission unit driving motor 75 and the clamping jaw driving motor 76 during operation on the other hand. The transmission unit driving motor 75 and the clamping jaw driving motor 76 are installed side by side on the fixing plate, and the output shaft of the transmission unit driving motor 75 passes through the fixing plate and is transmission-connected to the linear transmission unit.

[0061] On the one hand, the fixed plate is arranged at the end of the linear transmission unit away from the lower clamping device and the upper clamping device, which increases the physical distance between the two drive motors and the upper clamping device and the lower clamping device, thereby reducing the influence of the motor vibration on the upper clamping device and the lower clamping device, especially when the upper clamping device is provided with a force sensor 13, the force sensor 13 is used to detect and provide real-time feedback on the puncture force of the upper clamping jaw 30 clamping the puncture needle 90 during the puncture process. The motor vibration will cause interference to the force feedback, resulting in reduced force feedback accuracy. The two drive motors are arranged at a position away from the force sensor 13 through the fixed plate, which can reduce the influence of the motor vibration on the force feedback accuracy. On the second hand, the fixed plate can also isolate the motor vibration, thereby further reducing the influence of the two drive motors on the upper clamping device and the lower clamping device. Thirdly, the force sensor includes a fixed base part and a force measuring component. The fixed base part is fixedly connected to the slide of the linear module, and the force measuring component is connected to the upper connecting rod of the upper clamping device. For the force sensor, its force measuring component cannot be connected to the motor. In this embodiment, the two driving motors are not only arranged far away from the force sensor but also have no connection relationship with the force measuring component, which meets the measurement requirements of the force measuring component.

[0062] Furthermore, in this embodiment, if Figure 2As shown, the first driven gear 71 and the second driven gear 72 are respectively meshed with the left and right sides of the driving gear 73, the driving gear 73 is installed between the first driven gear 71 and the second driven gear 72 and the position corresponds to the position of the linear module 14, and the first driven gear 71 and the second driven gear 72 are exposed from the left and right sides of the linear module 14. The first transmission flexible shaft 61 and the second transmission flexible shaft 62 are respectively led out from the central axis of the first driven gear 71 and the second driven gear 72, bypass the space on the left and right sides of the linear module 14, and then connected to the upper clamping jaw 30 and the lower clamping jaw 40, see Figure 1 The reason why the two driven gears are arranged on the left and right sides of the driving gear 73 in this embodiment is that if the two driven gears are arranged on the same side of the driving gear 73, it will cause interference between the two transmission flexible shafts on the same side or one of the transmission flexible shafts will need to bypass the rear of the linear module 14 and then bypass the clamping claw in front of the linear module 14, causing interference with the linear module 14 and the force sensor 13 on the linear module 14, which is not conducive to the detection accuracy of the force sensor 13. Therefore, in this embodiment, by arranging the first driven gear 71 and the second driven gear 72 on the left and right sides of the driving gear 73 respectively, and the first transmission flexible shaft 61 and the second transmission flexible shaft 62 are led out from the blank areas on the left and right sides of the linear module 14, the influence of the two transmission flexible shafts on the linear module 14 and the force sensor 13 on the linear module 14 is avoided. In other words, the influence of the linear module 14 on the torque transmission function of the two transmission flexible shafts is also avoided.

[0063] In the existing scheme, the end effector needs to manually clamp and release the puncture needle, and the puncture needle is clamped by a knob, a bolt, and a clamping claw linked thereto, which is inconvenient to operate. Especially for the scheme designed with two clamping claws to clamp the puncture needle at the needle tail and the needle head respectively, it needs to be manually operated twice, which is complicated and time-consuming.

[0064] To this end, this embodiment provides a clamping claw structure for an electric end effector to solve the problem of inconvenient operation of the clamping claw structure in the existing solution.

[0065] The implementation of the upper clamping jaw 30 and the lower clamping jaw 40 of this embodiment will be introduced below with reference to the accompanying drawings.

[0066] like Figure 3 An embodiment of an upper clamping jaw 30 is shown, and the upper clamping jaw 30 includes an upper fixing portion 33 for fixingly connecting to the upper connecting rod 11, and a first clamping arm 32 and a second clamping arm 31 hinged to each other.

[0067] The first claw arm 32 has a first clamping portion 321, and the second claw arm 31 has a second clamping portion 311 corresponding to the first clamping portion 321. The first clamping portion 321 and the second clamping portion 311 together form an upper clamping cavity for clamping the puncture needle fastener 80. In one embodiment, Figure 3 As shown, the first clamping portion 321 and the second clamping portion 311 are both arc-shaped groove structures, and the upper clamping cavity enclosed by the first clamping portion 321 and the second clamping portion 311 is generally circular, and is used to clamp the circular puncture needle fastener 80. It should be noted that the specific shape and size of the upper clamping cavity are not particularly limited in this embodiment, and can be customized according to the shape of the clamped part of the puncture needle 90 fastening clamp 81.

[0068] The corresponding hinged ends of the first claw arm 32 and the second claw arm 31 are hingedly connected via a hinged structure such as a hinge shaft, and the other end opposite to the hinged end is a free end that can be opened and closed.

[0069] In one embodiment, the upper fixing portion 33 is a fixing arm fixedly connected to the side wall of the first claw arm 32, and the fixing arm extends toward the upper connecting rod 11. Figure 1 As shown, the fixed arm is fixed to the upper connecting rod 11 by fasteners such as bolts, so as to realize the fixed connection between the first claw arm 32 of the upper clamping jaw 30 and the upper connecting rod 11. Through this arrangement, when the upper clamping jaw driving shaft 51 drives the upper clamping jaw 30 to open or close, the first claw arm 32 is fixed, and the second claw arm 31 rotates relative to the first claw arm 32 to open or close.

[0070] Of course, the utility model is not limited to the above-mentioned setting method. In other embodiments, the fixed arm can also be fixedly connected between the hinge shaft and the upper connecting rod 11, and the upper clamping jaw drive shaft 51 drives the first clamping jaw 32 and the second clamping jaw 31 to rotate around the hinge shaft at the same time, thereby realizing the opening or closing of the upper clamping jaw 30.

[0071] Furthermore, in this embodiment, if Figure 3 As shown, the first rotary transmission structure includes an upper clamping jaw drive shaft 51, a first threaded hole, and a second threaded hole. The upper clamping jaw drive shaft 51 is disposed at the end of the second end of the first transmission flexible shaft 61. In one embodiment, the upper clamping jaw drive shaft 51 can be fixed to the end of the second end of the first transmission flexible shaft 61 by welding. The first threaded hole and the second threaded hole are respectively formed at the positions of the first claw arm 32 and the second claw arm 31 close to the hinge axis, and the first threaded hole and the second threaded hole respectively penetrate the first claw arm 32 and the second claw arm 31.

[0072] The upper clamping jaw driving shaft 51 is divided into two sections, namely a first threaded section and a second threaded section. The first threaded section is used to form a threaded fit with the first threaded hole, and the second threaded section is used to form a threaded fit with the second threaded hole. In order to realize that when the upper clamping jaw driving shaft 51 rotates in the same direction, the first claw arm 32 and the second claw arm 31 can rotate in opposite directions, that is, to realize the opening or closing of the upper clamping jaw 30, in this embodiment, the first threaded hole and the second threaded hole are set as threaded holes with opposite thread rotation directions, and accordingly, the first threaded section and the second threaded section are also set as threaded sections with opposite thread rotation directions.

[0073] In order to prevent the upper jaw drive shaft from escaping from the second threaded hole, in the present embodiment, the first end of the upper jaw drive shaft is used to fix the second end of the first transmission flexible shaft connected to the electric end effector, and the second end of the upper jaw drive shaft passes through the second threaded hole of the second jaw arm and is provided with an anti-escaping cap to prevent it from escaping from the second threaded hole.

[0074] In one embodiment, the structure of the lower clamping jaw 40 is similar to that of the upper clamping jaw 30. Figure 4 As shown, the lower clamping jaw 40 includes a lower fixing portion 45 fixedly connected to the lower connecting rod 12, and a third claw arm 44 and a fourth claw arm 43 hinged to each other, and the third claw arm 44 and the fourth claw arm 43 together form a lower clamping cavity for clamping the needle body or needle tip of the puncture needle 90;

[0075] The corresponding hinged ends of the third claw arm 44 and the fourth claw arm 43 are hingedly connected by a hinge structure such as a hinge shaft, and the other end opposite to the hinged end is a free end that can be opened and closed. In one embodiment, the lower fixing portion 45 is a fixing arm fixedly connected to the side wall of the third claw arm 44, and the fixing arm extends toward the lower connecting rod 12, such as Figure 1 As shown, the fixed arm is fixed to the lower connecting rod 12 by fasteners such as bolts, so as to realize the fixed connection between the third claw arm 44 of the lower clamping jaw 40 and the lower connecting rod 12. Through this arrangement, when the lower clamping jaw driving shaft 52 drives the lower clamping jaw 40 to open or close, the third claw arm 44 is fixed, and the fourth claw arm 43 rotates relative to the third claw arm 44 to open or close. Of course, the utility model is not limited to the above arrangement. In other embodiments, the fixed arm can also be fixedly connected between the hinge shaft and the upper connecting rod 11, and the lower clamping jaw driving shaft 52 drives the third claw arm 44 and the fourth claw arm 43 to rotate around the hinge shaft at the same time, so as to realize the opening or closing of the lower clamping jaw 40.

[0076] Furthermore, in this embodiment, if Figure 4As shown, the second rotary transmission structure includes a lower jaw drive shaft 52, a third threaded hole and a fourth threaded hole. The lower jaw drive shaft 52 is disposed at the end of the second end of the second transmission flexible shaft 62. In one embodiment, the lower jaw drive shaft 52 can be fixed to the end of the second end of the second transmission flexible shaft 62 by welding. The third threaded hole and the fourth threaded hole are respectively formed at the third claw arm 44 and the fourth claw arm 43 near the hinge axis, and the third threaded hole and the fourth threaded hole respectively penetrate the third claw arm 44 and the fourth claw arm 43.

[0077] The lower jaw drive shaft 52 is divided into two sections, namely, a third threaded section and a fourth threaded section. The third threaded section is used to form a threaded fit with the third threaded hole, and the fourth threaded section is used to form a threaded fit with the fourth threaded hole. In order to achieve that when the lower jaw drive shaft 52 rotates in the same direction, the third claw arm 44 and the fourth claw arm 43 can rotate in opposite directions, that is, to achieve the opening or closing of the lower jaw 40, in this embodiment, the third threaded hole and the fourth threaded hole are set as threaded holes with opposite thread rotation directions, and accordingly, the third threaded section and the fourth threaded section are also set as threaded sections with opposite thread rotation directions.

[0078] The structural difference between the lower clamping jaw 40 and the upper clamping jaw 30 is that the third clamping portion 441 and the fourth clamping portion 431 of the lower clamping jaw 40 are semicircular hole structures, and the lower clamping cavity formed by the two semicircular hole structures is generally a circular hole, and the size of the circular hole is equivalent to the needle body and needle tip of the puncture needle 90, so that the needle body or needle tip of the puncture needle 90 can be clamped when the lower clamp is closed.

[0079] Since the first transmission flexible shaft 61 and the second transmission flexible shaft 62 rotate in opposite directions, the openings of the upper clamping jaw 30 and the lower clamping jaw 40 connected to the second ends of the first transmission flexible shaft 61 and the second transmission flexible shaft 62 face in opposite directions. In order to allow the puncture needle 90 and its puncture needle fastener 80 to be smoothly disengaged from the upper and lower clamping cavities according to actual needs, in this embodiment, the upper clamping jaw 30 and the lower clamping jaw 40 are configured to be able to open at an angle of more than 90° relative to each other, so that the upper clamping jaw 30 and the lower clamping jaw 40 form a needle withdrawal channel for the puncture needle 90 to withdraw from the electric end effector in the upper and lower corresponding spaces.

[0080] Specifically, taking the above clamping jaw 30 as an example, Figure 3 As shown, in order to prevent the second claw arm 31 from being interfered with by the second threaded section of the upper clamping claw driving shaft 51 during the opening process, an anti-interference space connected to the second threaded hole is processed next to the second threaded hole, and the matching length between the second threaded section and the second threaded hole and the reserved size of the anti-interference space are set to allow the second claw arm to open more than 90 degrees relative to the first claw arm.

[0081] The puncture needle fastener 80 is used to clamp the puncture needle 90 on the one hand, and is used as an intermediate piece to be clamped by the clamping jaws of the electric end effector on the other hand. In this embodiment, the puncture needle fastener 80 is used to clamp the needle tail of the puncture needle 90 inside, and is used to be clamped by the upper clamping jaw 30 of the electric end effector of this embodiment outside.

[0082] The puncture needle 90 is a slender rod, which is not easy to clamp directly. In the related art, an intermediate piece is first used to fasten the puncture needle 90, and then the intermediate piece is clamped by a clamp. However, the intermediate piece is not easy to be separated from the puncture needle 90. After the clamp is released, the intermediate piece still remains on the puncture needle 90, causing adverse effects such as the puncture needle 90 falling over.

[0083] To this end, this embodiment provides a puncture needle fastener 80 for an electric end effector. The following describes the implementation of the puncture needle fastener 80 in conjunction with the accompanying drawings.

[0084] In this embodiment, if Figure 5 and Figure 6 As shown, the puncture needle fastener 80 includes a fastening clip 81 and a fastening sleeve 83.

[0085] The fastening clip 81 is cylindrical, and has a puncture cavity for the puncture needle 90 to pass through. The outer wall is provided with a first lateral groove 811 that passes through the upper and lower ends of the fastening clip 81 and allows the puncture needle 90 to escape from the side. The fastening clip 81 is configured to have appropriate elasticity so that it can be deformed when external force is applied.

[0086] The fastening sleeve 83 is used to be sleeved on the outside of the fastening clamp 81, and has a first working position of applying pressure to the fastening clamp 81 to make it shrink and deform, thereby clamping the puncture needle 90, and a second working position of loosening the fastening clamp 81 to make it restore its deformation and allow the puncture needle 90 to withdraw from the first lateral groove 811.

[0087] In one embodiment, the minimum cross-sectional area of ​​the puncture cavity of the fastening clip is smaller than the cross-sectional area of ​​the clamped portion of the puncture needle, such as the needle tail, so that when the fastening clip is installed on the puncture needle (before the fastening sleeve is installed), the fastening clip can clamp the puncture needle by slight elastic deformation, which makes it easier to install the fastening sleeve later.

[0088] The specific installation and use process of the puncture needle fastener of this embodiment is as follows:

[0089] During installation, the fastening clip 81 is first placed on the set position of the puncture needle 90. Since the fastening clip 81 has not shrunk and deformed at this time, the puncture cavity of the fastening clip 81 only clamps the puncture needle 90 but does not clamp it. Of course, this clamping force is best to ensure that the fastening clip 81 does not fall off. After that, the fastening sleeve 83 is placed on the outside of the fastening clip 81 and the fastening sleeve 83 is adjusted to the first working position. At this time, the fastening sleeve 83 will apply pressure to the fastening clip 81 so that the fastening clip 81 shrinks and deforms to clamp the puncture needle 90. At this time, the clamping force applied by the fastening clip 81 to the puncture needle 90 can meet the clamping force requirements for the puncture needle 90 during puncture. When the puncture is completed or the patient needs to remove the puncture needle fastener 80 from the puncture needle 90 due to an accidental movement, the operator can adjust the fastening sleeve 83 to the second working position after the upper clamping jaw 30 is loosened. At this time, the force applied by the fastening sleeve 83 to the fastening clamp 81 is reduced or eliminated, so that the fastening clamp 81 partially or completely recovers its deformation, thereby allowing the puncture needle 90 to withdraw from the first lateral groove 811 of the fastening clamp 81. Compared with the intermediate piece in the related art, the puncture needle fastener 80 of this embodiment is easier to be separated from the puncture needle 90.

[0090] It should be noted that the utility model is not limited to the above-mentioned embodiments. In other embodiments, the minimum cross-sectional area of ​​the puncture cavity of the fastening clip can be equal to or greater than the cross-sectional area of ​​the clamped part of the puncture needle, such as the needle tail. After the operator installs the fastening clip on the puncture needle, he needs to pinch the fastening clip with one hand to prevent the fastening clip from falling, and then install the fastening sleeve with the other hand. Obviously, the installation in this way will be more complicated, but since there is no preset clamping force between the fastening clip and the puncture needle, when the fastening sleeve is adjusted to the second working position, the operator can easily remove the fastening clip from the puncture needle.

[0091] Specifically, in one embodiment, Figure 6 As shown, the first end of the fastening clip 81 is set as a truncated cone end with a gradually decreasing outer diameter, and the second end is provided with a first fastening structure; the first end of the fastening sleeve 83 is set as a conical end 85 adapted to the truncated cone end, and the second end is provided with a second fastening structure that forms a fastening match with the first fastening structure;

[0092] When in use, the fastening sleeve 83 is suitable for axially moving from the conical end of the fastening clamp 81 to the outside of the fastening clamp 81. When it is necessary to clamp the puncture needle 90, the operator operates the fastening sleeve 83 to move axially along the fastening clamp 81. When the fastening sleeve 83 moves to the first working position, the constricted end 85 of the fastening sleeve 83 squeezes the conical end of the fastening clamp 81 to shrink and deform the conical end of the fastening clamp 81. The puncture cavity inside the fastening clamp 81 shrinks and deforms at the same time to clamp the puncture needle 90. At the same time, the second fastening structure on the fastening sleeve 83 forms a fastening fit with the first fastening structure on the fastening clamp 81. At this time, the operator's hand can be disengaged to complete the clamping action of the puncture needle 90. When it is necessary to remove the puncture needle 90 from the puncture needle fastener 80, the operator moves the fastening sleeve 83 in the reverse direction to move the fastening sleeve 83 to the second working position. At this time, the second fastening structure of the fastening sleeve 83 and the first fastening structure of the fastening clip 81 are released from the fastening cooperation, the pressure applied by the fastening sleeve 83 to the fastening clip 81 is reduced or eliminated, and the fastening clip 81 and its puncture cavity partially or completely recover their deformation. At this time, the puncture needle 90 can be detached from the puncture needle fastener 80.

[0093] Furthermore, in a preferred embodiment, the first fastening structure is an external thread formed on the fastening clip 81, and the second fastening structure is an internal thread formed on the fastening sleeve 83. Figure 6 As shown, the operator can rotate the fastening sleeve 83 to rotate upward along the axial direction of the fastening clamp 81. When the fastening sleeve 83 is rotated upward to the first working position, the fastening sleeve 83 locks the fastening clamp 81. When the clamping force on the puncture needle 90 needs to be released, the operator rotates the fastening sleeve 83 in the opposite direction to move the fastening sleeve 83 downward along the axial direction of the fastening clamp 81, and the fastening clamp 81 partially or completely restores its deformation.

[0094] In order to facilitate the simultaneous removal of the fastening clip 81 and the fastening sleeve 83, the outer wall of the fastening sleeve 83 is provided with a second lateral groove 832 that passes through the upper and lower ends of the fastening sleeve 83; in the first working position, the second lateral groove 832 is offset from the first lateral groove 811; in the second working position, the second lateral groove 832 is correspondingly connected to the first lateral groove 811 to form a needle withdrawal groove for withdrawing the puncture needle 90.

[0095] In order to allow the fastening clamp 81 to better achieve deformation, the frustum end of the fastening clamp 81 is configured as a multi-petal structure with multiple slits on the outer wall. Under the pressure of the fastening sleeve 83, the multi-petal structure can shrink inward at the same time, and the multi-petal structure can achieve a larger deformation amount.

[0096] In order to achieve locking of the fastening sleeve 83 on the fastening clip 81, the hardness of the fastening sleeve 83 is greater than the hardness of the fastening clip 81. In one embodiment, the fastening clip 81 is made of plastic, and the fastening sleeve 83 is made of hard plastic or metal.

[0097] In addition, a cap of the fastening clip 81 is provided at the end of the second end of the fastening clip 81; in the first working position, the outer surface of the fastening sleeve 83 is flush with the outer surface of the cap of the fastening clip 81. Figure 5 As shown, the fastening sleeve 83 and the fastening clamp 81 form a flush cylindrical surface, which facilitates the clamping of the clamping claws.

[0098] The present embodiment also provides a puncture surgical robot, including an electric end effector of the puncture surgical robot. The electric end effector of the puncture surgical robot is the electric end effector of the puncture surgical robot as described above. Therefore, the advantages possessed by the electric end effector of the above-mentioned puncture surgical robot should also be possessed by the puncture surgical robot in the present embodiment, which will not be elaborated here.

[0099] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention of the utility model.

Claims

1. A clamping claw structure for an electric end effector, characterized in that: include: An upper clamping jaw, comprising a first clamping arm and a second clamping arm hinged to each other, wherein the first clamping arm has a first clamping portion, and the second clamping arm has a second clamping portion, and the first clamping portion and the second clamping portion jointly form an upper clamping cavity for clamping a puncture needle fastener; The first rotary transmission structure includes an upper jaw drive shaft and a first threaded hole and a second threaded hole passing through the first jaw arm and the second jaw arm. The upper jaw drive shaft is provided with a first threaded section and a second threaded section respectively cooperating with the first threaded hole and the second threaded hole. The thread rotation directions of the first threaded section and the second threaded section are opposite.

2. The clamping claw structure for an electric end effector according to claim 1, characterized in that: The first end of the upper clamp drive shaft is used to fix the second end of the first transmission flexible shaft connected to the electric end actuator, and the second end of the upper clamp drive shaft passes through the second threaded hole of the second clamp arm and is provided with an anti-drop cap to prevent it from falling out of the second threaded hole.

3. The clamping claw structure for an electric end effector according to claim 1, characterized in that: It also includes an upper fixing portion fixedly connected to the outer side of the first claw arm, and the upper fixing portion is used to be fixed to the upper connecting rod of the electric end effector.

4. The clamping claw structure for an electric end effector according to claim 3, characterized in that: An anti-interference space is provided beside the second threaded hole and is connected to the second threaded hole and is used to prevent the second claw arm from interfering with the upper clamping claw driving shaft during the opening process.

5. The clamping claw structure for an electric end effector according to claim 4, characterized in that: The matching length between the second threaded section and the second threaded hole and the reserved size of the anti-interference space are set to allow the second claw arm to open more than 90 degrees relative to the first claw arm.

6. The clamping claw structure for an electric end effector according to claim 5, characterized in that: It also includes a lower clamping jaw connected to the lower connecting rod of the electric end effector and used to clamp the needle body of the puncture needle, and a second rotary transmission structure for cooperating with the lower clamping jaw; The lower clamping jaw comprises a third clamping arm and a fourth clamping arm hinged to each other, the third clamping arm has a third clamping portion, the fourth clamping arm has a fourth clamping portion, and the third clamping portion and the fourth clamping portion together form a lower clamping cavity for clamping the puncture needle body; The second rotating transmission structure includes a lower jaw drive shaft and a third threaded hole and a fourth threaded hole passing through the third jaw arm and the fourth jaw arm. The lower jaw drive shaft is provided with a third threaded segment and a fourth threaded segment respectively cooperating with the third threaded hole and the fourth threaded hole. The thread rotation directions of the third threaded segment and the fourth threaded segment are opposite.

7. The clamping claw structure for an electric end effector according to claim 6, characterized in that: The openings of the upper jaw and the lower jaw are in opposite directions; the upper jaw and the lower jaw are configured to be able to open relative to each other at an angle exceeding 90°, so that the upper jaw and the lower jaw form a needle withdrawal channel for the puncture needle to withdraw from the electric end effector in the upper and lower corresponding spaces.

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